The magnetic domain wall (DW) motion driven by a spin-polarized current opens a new concept for memory and logic devices. However, the critical current density required to overcome the intrinsic and/or extrinsic pinning of DW remains too large for practical applications. Here, we show, by using micromagnetic simulations and analytical approaches, that the application of a microwave field offers an effective solution to this problem. When a transverse microwave field is applied, the adiabatic spin-transfer torque (STT) alone can sustain a steady-state DW motion without the sign of Walker breakdown, meaning that the intrinsic pinning disappears. The extrinsic pinning can also be effectively reduced. Moreover, the DW velocity is increased greatly for the microwave-assisted DW motion. This provides a new way to manipulate the DW motion at low current densities.